Sensorless Human–Robot Interaction: Real‐Time Estimation of Co‐Grasped Object Mass and Human Wrench for Compliant Interaction

Human–robot physical interaction in shared object manipulation can fully leverage the strengths of both humans and collaborative robots, achieving better interaction outcomes. However, in typical physical interactions, the inertia parameters of the object are either assumed to be known or ignored, s...

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Bibliographic Details

Published in:	Advanced Intelligent Systems
Main Authors:	Minghao Bai, Xizhe Zang, Lei Wu, Changle Li, Yanhe Zhu, Jie Zhao
Format:	Article
Language:	English
Published:	Wiley 2025-06-01
Subjects:	disturbance observers impedance controls parameter identifications physical human–robot collaborations wrench estimations
Online Access:	https://doi.org/10.1002/aisy.202400616